KR100221471B1 - Method for controlling velocity of a stacker of parking equipments - Google Patents

Abstract

The disclosed subject matter relates to a speed control method of a stacker for entering and leaving a vehicle to / from a parking facility. The conventional stacker speed control method moves the stacker at a high speed near the target position with the elevator to stop, and then slowly moves the stacker again to find the correct exact position. If shorter, there was a problem that it is difficult to find the exact position. Thus, under the technical problem to solve this problem, the speed control method of the stacker according to the present invention by changing the parameters of the inverter the stacker can be continuously moved to different multi-step speed value according to the lifting distance of the elevator. By doing so, it is possible to shorten the working time for entering and leaving the vehicle to and from the parking facility.

Description

Stacker speed control method of parking equipment

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control method of a stacker for entering and leaving a vehicle to / from a parking facility. In particular, the present invention relates to moving a stacker at different multi-level speeds depending on the lifting distance of an elevator associated with the stacker. The present invention relates to a stacker speed control method of a parking facility.

In general, parking vehicles enter and leave the parking facility by elevators and stackers, and therefore, the elevators and stackers must be moved quickly and appropriately in order to shorten the entry / exit processing time of the vehicle.

First, the parking facilities using the stacker will be described. As shown in Figure 1, the parking facility using a stacker is divided into several floors, each floor is provided with a plurality of parking rooms 20 in which the vehicle 10 can be parked. The central part of the parking facility is installed in a state in which the stacker 30 is coupled to the tracks 40 and 70 so as to be movable left and right, and is divided into two parts by the stacker 30 on the track. . The stacker 30 couples the elevator 50 so as to be movable up and down, and the parker 60 is mounted on the upper surface of the elevator 50 to move the vehicle into and out of the parking space. Therefore, when the vehicle is loaded on the elevator 50 through the entrance of the parking facility, the elevator descends while the stacker 30 moves to the appropriate parking compartment 20, and the parker 60 when the vehicle reaches the corresponding parking compartment. Is operated to move the vehicle to the parking lot and park it. On the contrary, when the vehicle is shipped, the parking facility is operated in the reverse process.

However, in this type of parking facility, the position of the sensor for searching the exact position of the parking space is arranged left and right, and each of the parking spaces 20 may not be precisely arranged vertically or horizontally. The elevation of 50 must be completed before the travel of the stacker 30.

Accordingly, as an embodiment, the elevator 50 and the stacker 30 are moved to the vicinity of the target position at the same speed of about 50 m / min to be temporarily stopped, and then the elevator 50 is completed when the elevator cabin 50 is completed. A method of moving the stacker 30 again to find the exact position of is presented. In this speed control method, when the vehicle 10 is loaded on the elevator 50 to be received, the elevator and the stacker are moved at a rather high speed of 50 m / min to a position near the appropriate parking space 20 that is empty among the parking facilities. Then move the stacker again to find the correct parking location. In this way, the vehicle is received, and on the contrary, when the vehicle is parked, it can be released in this way.

However, the conventional stacker speed control method moves the stacker at high speed near the target position and stops it together with the elevator, and then causes the stacker to slow down again in order to find the correct exact position. If it is shorter than the lifting distance there was a problem that it is difficult to find the exact position. Accordingly, the present invention has been made to solve the above problems, the object is to control the stacker in different multi-level speed according to the lifting distance of the elevator to move to the target position without stopping the operation of the stacker. It is to provide a speed control method of a stacker.

1 is a configuration diagram schematically showing the interior of a parking facility using a stacker;

2 is a block diagram showing a coupling relationship between a stacker travel controller and an inverter for explaining a speed control method of a stacker according to the present invention;

Figure 3 is a graph showing an example of the speed pattern by the speed control method of the stacker according to the present invention,

4 is a speed control flowchart of the stacker for explaining the speed control method of the stacker according to the present invention.

* Explanation of symbols for main parts of the drawings

10: vehicle 20: parking space

30: stacker 40: underline

50: lift 60: Parker

70: upper track 80: stacker driving controller

90: inverter

A feature of the present invention for achieving the above object is a stacker speed control method for controlling the speed of the stacker associated with the elevator for entering and leaving the vehicle to and from the parking facility, (1) the mouth of the vehicle driver Calculating the moving distance of the elevator and the moving distance of the stacker when the moving destination of the vehicle is determined according to the release request; (2) comparing the lifting distance and the moving distance according to the calculation result of step (1), and moving the stacker in the set high speed pattern when the moving distance is larger than the lifting distance; And (3) when the moving distance is less than the lifting distance in step (2), the ratio of the moving distance to the lifting distance is divided into a multi-step range, and the speed of the stacker is multi-step based on the divided ratio value. There is provided a stacker speed control method comprising the step of moving the stacker to a plurality of set speed patterns by differentially setting.

Hereinafter, with reference to the accompanying drawings to explain the configuration and operation of the present invention.

The speed control of the stacker is actually performed by the input / output relationship of the signal between the stacker travel controller 80 and the inverter 90 as shown in FIG. The stacker according to the present embodiment is divided into a case in which the moving distance is greater than and smaller than the elevator lifting distance, and when it is small, it is divided into several steps based on the ratio of the elevator moving distance to the elevator lifting distance. This allows them to move differentially at five different speeds. However, it is also possible to change the parameters of the inverter 90 to cause the stacker to be differentially moved at different speeds of five or more stages.

2 and 3, a case in which the speed of the stacker is divided into five stages will be described as an example. Inverter 90 associated with the stacker travel controller 80 is the stacker travel distance is greater than the lifter lift distance, and if the ratio of the lifter travel distance to the lifter lift distance is smaller than 0.8, 0.5 As described above, the stacker is set to move at a differential speed of 40 m / min, 30 m / min, 20 m / min and 5 m / min depending on whether 0.3 or more and 0.3 or less are applied. Therefore, when the moving distance of the stacker is larger than the lifting distance of the elevator, the output signal 1 or 2 of the controller 80 is utilized and the output signals 8 and 9 are simultaneously used to save the forward or reverse input signal of the inverter 90. By simultaneously controlling intermittent commands 1 and 2, the stacker is moved at a speed of 50 m / min. On the other hand, when the moving distance of the stacker is smaller than the lifting distance of the elevator, when the ratio of the moving distance of the stacker to the lifting distance of the elevator is 0.8 or more, the output signal 1 or 2 of the controller 80 is saved and the output signal 9 By utilizing the forward or reverse input signal of the inverter 90 and by utilizing the multi-step command 2, the stacker is moved at a speed of 40 m / min. If the ratio of the moving distance of the stacker to the lifting distance of the elevator is 0.5 or more, the output signal 1 or 2 of the controller 80 is saved and the output signal 8 is saved, and the forward or reverse input signal of the inverter 90 is saved and the multi-step command 1 By making the stacker move at a speed of 30m / min. When the ratio of the moving distance of the stacker to the lifting distance of the elevator is 0.3 or more, the output signal 1 or 2 of the controller 80 is utilized and the forwarder or the reverse input signal of the inverter 90 is utilized to make the stacker at a speed of 20 m / min. To be moved. In addition, when the ratio of the moving distance of the stacker to the lifting distance of the elevator is 0.3 or less, the output signal 11 of the controller 80 is utilized to make the stacker move at a speed of 5 m / min by utilizing the jogging signal of the inverter 90. . As such, the stacker of the parking facility may be differentially moved at different speeds according to the lifting distance of the elevator by setting the parameters of the inverter.

Hereinafter, a process of controlling the speed of the stacker by the parameter setting value of the inverter will be described in detail with reference to the control flowchart of FIG. 4. First, when the moving destination of the vehicle to be entered and exited is determined, the distance to which the elevator (50 in FIG. 1) and the stacker (30 in FIG. 1) should move is calculated (step 100). According to the calculated result, the lifting distance of the elevator and the moving distance of the stacker are compared (step 110). If the moving distance is larger than the lifting distance, the stacker is moved in the traveling speed pattern determined at 50 m / min (step 120, 130). Thus, when the stacker arrives at the target point, the control process ends, and if not, step 130 is performed again (step 140). On the other hand, if the moving distance is less than the lifting distance in step 110, it is determined whether the ratio of the moving distance of the stacker to the lifting distance of the elevator is 0.8 or more, 0.5 or more, 0.3 or more and 0.3 or less according to the parameter setting value of the inverter (step 150). Accordingly, if the ratio is 0.8 or more, the stacker is moved to the traveling speed pattern determined at 40 m / min (step 160), and if the ratio is 0.5 or more, the stacker is moved to the traveling speed pattern determined at 30 m / min (step 170). If the ratio is 0.3 or more, the stacker is moved to the traveling speed pattern determined at 20 m / min (step 180), and if the ratio is less than 0.3, the stacker is moved to the traveling speed pattern determined at 5 m / min (step 190). . In this way, the stacker can be moved at a differential speed depending on the lift distance of the elevator.

As described above, the speed control method of the stacker according to the present invention changes the parameters of the inverter so that the stacker can be continuously moved to different multi-speed speed values according to the lifting distance of the elevator, without stopping the parking vehicle There is an effect that the working time for entering and leaving the parking facility can be shortened.

Claims (4)

A stacker speed control method for controlling the speed of a stacker associated with an elevator to enter / export a vehicle to / from a parking facility, (1) calculating the lifting distance of the elevator to be moved and the moving distance of the stacker when the moving destination of the vehicle is determined according to the entry / exit request of the vehicle driver; (2) comparing the lifting distance and the moving distance according to the calculation result of step (1), and moving the stacker in a set high speed pattern when the moving distance is larger than the lifting distance; And (3) In step (2), if the moving distance is less than the lifting distance, the ratio of the moving distance to the lifting distance is divided into a multi-step range, and the moving speed of the stacker is multi-step according to the divided ratio value. And moving the stacker to a plurality of set speed patterns by differentially setting the speed values to the speed values. The method of claim 1, In step (2), the high speed pattern is set to a speed of 50m / min, the stacker speed control method to move the stacker. The method of claim 1, In step (3), the ratio of the moving distance to the lifting distance is divided into four steps, and correspondingly, four different speed patterns are set by differentially setting the moving speed of the stacker to the four speed values. A stacker speed control method for moving the stacker with. The method of claim 3, And a speed pattern of 40 m / min, 30 m / min, 20 m / min, and 5 m / min, to move the stacker.

Images